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6_PUS并聯(lián)機(jī)構(gòu)奇異判據(jù)推導(dǎo)與奇異性分析
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國(guó)家“995工程”二期國(guó)防領(lǐng)域科技國(guó)家重大專項(xiàng)資助項(xiàng)目（20083001.HT12）


Singularity Judge Deriving and Singularity Analysis for 6_PUS Parallel Mechanism
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    摘要:

    根據(jù)6_PUS并聯(lián)機(jī)構(gòu)的力螺旋平衡方程,，采用支鏈力分解方法推導(dǎo)了該機(jī)構(gòu)的力雅可比矩陣,，進(jìn)而得到其運(yùn)動(dòng)雅可比矩陣。由運(yùn)動(dòng)雅可比矩陣得到了6_PUS并聯(lián)機(jī)構(gòu)發(fā)生奇異的條件，并以奇異條件為基礎(chǔ)歸納了該機(jī)構(gòu)二類奇異的幾何特征,。為了便于在全工作空間中研究機(jī)構(gòu)的奇異位姿，提出了一種更能反映機(jī)構(gòu)運(yùn)行需求的奇異域概念，作為研究機(jī)構(gòu)奇異位姿和避免奇異的基礎(chǔ)，建立了奇異域的數(shù)學(xué)表達(dá)式,。通過(guò)仿真研究獲得了6_PUS并聯(lián)機(jī)構(gòu)在全工作空間內(nèi)2類奇異域的分布，提出了避免機(jī)構(gòu)進(jìn)入奇異域和發(fā)生奇異的方法,，為該機(jī)構(gòu)的設(shè)計(jì)提供了參考,。

    Abstract:

    Based on force screw equilibrium equation of a kind of 6_PUS parallel mechanism and decomposed force of its branches, force Jaccobian was derived and then kinematic Jaccobian was got. By kinematic Jaccobian, singurality conditions of 6_PUS parallel mechanism were achieved and the geometry characteristics in two kinds singularities of this parallel mechanism were drawn. In order to study conveniently on singularities of the mechanism in its’ full work space, a concept that called singularity field was put forward to express the mechanism actually running. As the base to research singularity and to avoid singularity, the expression equations of singularity field were built. The distribution of two kinds of singularities in full work space of this 6_PUS mechanism was obtained and methods for avoid singularities or forbid mechanism running at singularities point were brought out for reference to design of this kind mechanism. 

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譚興強(qiáng),謝志江,謝永春.6_PUS并聯(lián)機(jī)構(gòu)奇異判據(jù)推導(dǎo)與奇異性分析[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2012,43(12):234-239,250. Tan Xingqiang, Xie Zhijiang, Xie Yongchun. Singularity Judge Deriving and Singularity Analysis for 6_PUS Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2012,43(12):234-239,250.

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  • 在線發(fā)布日期: 2012-12-13
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